1 Overview 1-6 Operations of Dynamic Pick- and-place Equipment (2) Move from the workpiece pick-up approach point (P2) to the workpiece pick-up position (P3) in linear interpolation operation. (3) Move from the workpiece pick-up position (P3) to workpiece pick-up approach point (P2) in linear in- terpolation operation. (4) Move from the workpiece pick-up approach point (P2) to the workpiece place approach point (P4) in linear interpolation operation. 1 (5) Move from the workpiece place approach point (P4) to the workpiece place position (P5) in linear in- terpolation operation.
(6) Move from the workpiece place position (P5) to the workpiece place approach point (P4) in linear in- terpolation operation. 1-6-2 Operating Modes for Equipment (7) Move from the workpiece place approach point (P4) to the workpiece pick-up approach point (P2) in linear interpolation operation. The "approach point" is the same as "approach location" and "depart location" that are used with the Pack Manager described in 4-3-6 Creating a Pack Manager Sample on page 4-53. Additional Information The operations for conveyor B are not described in this guide. Program it by the customer ac- cording to the operating specifications of actual equipment.
1-6-2 Operating Modes for Equipment Assume that this equipment have two operating modes, manual operation and automatic operation modes. Perform teaching in manual operation, and execute the actual pick-and-place operations in automatic operation. 1-11 NJ-series Robot Integrated System Startup Guide (O049) Number Description of operation